Ultra-wideband time of flight based localization system and odometry fusion for a scanning 3 DoF magnetic field autonomous robot

Lima, José; Costa, Paulo Gomes da

http://hdl.handle.net/10198/15560

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Authors

Lima, José

Costa, Paulo Gomes da

Abstract(s)

Solving the robot localization problem is one of the most necessary requirements for autonomous robots. Several methodologies can be used to determine its location as accurately as possible. What makes this difficult is the existence of uncertainty in the sensing of the robot. The uncertain information needs to be combined in an optimal way. This paper stresses a Kalman filter to combine information from the odometry and Ultra Wide Band Time of Flight distance modules, which lacks the orientation. The proposed system validated in a real developed platform performs the fusion task which outputs position and orientation of the robot. It is used to localize the robot and make a 3 DoF scanning of magnetic field in a room. Other examples can be pointed out with the same localization techniques in service and industrial autonomous robots.

Keywords

Autonomous mobile robot Localization Ultra wideband time of flight

URI

http://hdl.handle.net/10198/15560

Citation

Lima, Jose; Costa, Paulo (2018). Ultra-wideband time of flight based localization system and odometry fusion for a scanning 3 DoF magnetic field autonomous robot. In ROBOT 2017: Third Iberian Robotics Conference. p. 879-890. ISBN 978-3-319-70832-4